Perimeter Ranging Sensors for Reliable Docking Hazard Control
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Solution Overview
Problem
Conventional automated directional control systems for vehicles, including watercraft, are inaccurate and difficult to retrofit, making them unreliable for reliable docking or parking assist, especially in crowded conditions or with external disturbances like wind or water currents.
Innovation Solution
A docking assist system that includes a controller with sensors such as orientation, gyroscope, accelerometer, and position sensors, which execute control loops to model and control navigation, providing accurate and reliable directional control by coordinating steering and propulsion systems to compensate for hazards and environmental disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional automated directional control systems are used, then docking control is provided, but accuracy and reliability are insufficient especially in crowded conditions or with external disturbances
Solution Approach 1:
The system segments the docking control function into multiple independent control loops (outer loop for path planning, inner loop for trajectory tracking) and uses multiple sensors (GPS, compass, accelerometer, gyroscope) working independently but coordinated together. This segmentation allows each component to focus on specific measurements and control tasks, improving overall accuracy and reliability without requiring a single complex sensor system.
Solution Approach 2:
The control system uses universal sensor components (accelerometers, gyroscopes, GPS receivers) that can be integrated into various watercraft types without requiring purpose-built specialized sensors. These multi-functional sensors provide both navigation data and control feedback, enabling the system to achieve high docking accuracy and reliability across different vessel types and operating conditions.
2Measurement precision
If purpose-built sensors are used to improve docking accuracy, then measurement precision improves, but system complexity and cost increase
Solution Approach 1:
The system employs universal sensor components (standard GPS receivers, commercial accelerometers, MEMS gyroscopes) that serve multiple functions: navigation,姿态 estimation, and control feedback. This multi-functionality achieves high docking accuracy without requiring specialized purpose-built sensors, thereby reducing system complexity and cost while maintaining precision.
Solution Approach 2:
The system implements continuous feedback loops that process data from multiple standard sensors to achieve precise docking control. The feedback mechanism integrates information from GPS position, compass heading, accelerometer motion detection, and gyroscope rate data to continuously correct the watercraft's trajectory, achieving high measurement precision using relatively simple, commercially available sensor components.
3Reliability
If multiple sensors are integrated to improve reliability, then docking reliability improves, but ease of retrofitting decreases
Solution Approach 1:
The system uses universal, commercially available sensor components (standard GPS modules, off-the-shelf accelerometers, MEMS gyroscopes) that can be easily integrated into existing watercraft without requiring custom-purpose built sensors. This universality maintains high docking reliability while significantly improving ease of retrofitting compared to purpose-built sensor systems.
Solution Approach 2:
The control system processes and integrates data from multiple independent sensors to achieve reliable docking control without requiring complex external assistance or specialized installation infrastructure. The system self-calibrates and self-corrects by continuously processing sensor data through the control loops, enabling reliable operation with relatively simple integration into existing vessels.
Data Source
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AI summary
Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging sensor, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from the perimeter ranging system. The logic device determines a range to and/or a relative velocity of a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system based on the received perimeter sensor data. The logic device then generates a display view of the perimeter sensor data or determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.